Tracking human walking using MARG sensors
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Authors
Pantazis, Ioannis
Subjects
Advisors
Yun, Xiaoping
Date of Issue
2005-06
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
This thesis addresses modeling and simulation of the human lower extremities in order to track walking motion and estimate walking distance. The lower extremities are modeled as an articulated object, which consists of rigid bars connected to each other by joints. This model is tested by using both synthetic and real data. The synthetic data is created based on the main principles of biomechanics. The real data is obtained from the MARG sensors and is processed by the Factored Quaternion algorithm. Next, it is implemented in a simulation program written in Matlab. The program utilizes a mathematical model that represents the human gait-cycle and is based on the theory of forward kinematics as well as on the theory of manipulator kinematics. The simulation program is able to track the motion of the limbs that represent the lower extremities and estimate the traveled distance. Extensive laboratory tests verified the validity of the configuration.
Type
Thesis
Description
Series/Report No
Department
Information Sciences (IS)
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
xviii, 97 p. : ill. (some col.) ;
Citation
Distribution Statement
Approved for public release; distribution is unlimited.